Based on the catastrophe theory, static bifurcation theory and singularity theory, to research the brittleness problems of complex system.

以突变理论、静态分叉理论、奇异性理论等为基础，对复杂系统的脆性问题进行了深入的研究。

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In addition the computing formulae of the total number of singularity requirements for the arbitrary complex multilooped planar linkage to produce a singular position were obtained.

还得到了任意复杂多回路平面机构产生奇异位置的奇异性条件总数的计算公式。

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Based on singularity of constraint equation and complex division of structure-parameter-space, the dimension classification method of planar mechanism was researched.

以位置约束方程奇异性条件和结构参数空间复形剖分方法为基础，研究了平面机构尺度分类问题。

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